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    Method and a system for registering a 3D pre acquired image coordinates system with a medical positioning system coordinate system and with a 2D image coordinate system
    1.
    发明授权
    Method and a system for registering a 3D pre acquired image coordinates system with a medical positioning system coordinate system and with a 2D image coordinate system 有权

    公开(公告)号：US10229496B2

    公开(公告)日：2019-03-12

    申请号：US15449116

    申请日：2017-03-03

    Applicant: MediGuide, Ltd.

    Inventor： Gera Strommer ,  Uzi Eichler ,  Liat Schwartz

    IPC: G06T7/00 ,  G06T7/33 ,  G06K9/62 ,  G06K9/46 ,  G06K9/32

    Abstract: A method for registering a three dimensional (3D) coordinates system with a Medical Positioning System (MPS) coordinate system and with a two dimensional (2D) coordinate system, includes acquiring at least one 2D image of a volume of interest, the volume of interest including at least one tubular organ within the body of a patient. The 2D image is associated with the 2D coordinate system, and a plurality of MPS points is acquired, within the at least one tubular organ. The MPS points are associated with the MPS coordinate system, the MPS coordinate system being registered with the 2D coordinate system. A 3D image model is extracted of the at least one tubular organ form a pre-acquired 3D image of the volume of interest. A volumetric model of the at least one tubular organ from the 2D image is estimated and from the acquired MPS points, the 3D coordinate system is registered with the MPS coordinate system and with the 2D coordinate system by matching the extracted 3D image model and the estimated volumetric model of the at least one tubular organ.

    Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors
    6.
    发明授权
    Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors 有权

    公开(公告)号：US10251712B2

    公开(公告)日：2019-04-09

    申请号：US15826129

    申请日：2017-11-29

    Applicant: MediGuide Ltd.

    Inventor： Itzhak Shmarak ,  Gera Strommer ,  Uzi Eichler

    IPC: A61B34/20 ,  A61B5/06 ,  A61B5/11 ,  A61B5/00 ,  A61B6/00 ,  A61B8/02 ,  A61B8/08 ,  A61B90/00 ,  A61B34/10 ,  A61B5/113 ,  A61B6/03 ,  A61B8/12 ,  G06F19/00 ,  A61B5/0456 ,  A61B5/08 ,  A61B6/12 ,  A61B8/00 ,  A61B17/00 ,  A61N5/10 ,  A61B90/10 ,  A61B34/00

    Abstract: Apparatus for generating an organ timing signal relating to an inspected organ within the body of a patient, including a medical positioning system, and a processor coupled with the medical positioning system, the medical positioning system including at least one reference electromagnetic transducer placed at a reference location, at least one inner electromagnetic transducer attached to a surgical tool inserted in a blood vessel in the vicinity of the inspected organ, and a medical positioning system processor coupled with the reference electromagnetic transducer and the inner electromagnetic transducer, the medical positioning system processor determining the three-dimensional position of the inner electromagnetic transducer, by processing transmitted electromagnetic signals transmitted from one of the reference electromagnetic transducer and the inner electromagnetic transducer with detected electromagnetic signals detected by the other of the reference electromagnetic transducer and the inner electromagnetic transducer, the medical positioning system processor further generating medical positioning system data sets, each of the medical positioning system data sets including a collection of three-dimensional position coordinate readings demonstrating the motion trajectory of the surgical tool over time, the processor generating the organ timing signal from the medical positioning system data sets by detecting and identifying periodic motion frequencies in the medical positioning system data sets, and filtering the periodic motion frequencies from the medical positioning system data sets.

    Method and a system for registering a 3D pre acquired image coordinate system with a medical positioning system coordinate system and with a 2D image coordinate system
    8.
    发明授权
    Method and a system for registering a 3D pre acquired image coordinate system with a medical positioning system coordinate system and with a 2D image coordinate system 有权
    方法和系统，用于登记具有医疗定位系统坐标系和2D图像坐标系的3D预获取图像坐标系

    公开(公告)号：US09595102B2

    公开(公告)日：2017-03-14

    申请号：US14815319

    申请日：2015-07-31

    Applicant: MediGuide, Ltd.

    Inventor： Gera Strommer ,  Uzi Eichler ,  Liat Schwartz

    IPC: G06K9/20 ,  G06K9/62 ,  G06T7/00 ,  G06K9/32 ,  G06K9/46

    CPC classification number: G06T7/0012 ,  G06K9/32 ,  G06K9/4604 ,  G06K9/6201 ,  G06K2209/05 ,  G06T7/344 ,  G06T2207/30004

    Abstract: A method for registering a three dimensional (3D) coordinates system with a Medical Positioning System (MPS) coordinate system and with a two dimensional (2D) coordinate system, includes acquiring at least one 2D image of a volume of interest, the volume of interest including at least one tubular organ within the body of a patient. The 2D image is associated with the 2D coordinate system, and a plurality of MPS points is acquired, within the at least one tubular organ. The MPS points are associated with the MPS coordinate system, the MPS coordinate system being registered with the 2D coordinate system. A 3D image model is extracted of the at least one tubular organ form a pre-acquired 3D image of the volume of interest. A volumetric model of the at least one tubular organ from the 2D image is estimated and from the acquired MPS points, the 3D coordinate system is registered with the MPS coordinate system and with the 2D coordinate system by matching the extracted 3D image model and the estimated volumetric model of the at least one tubular organ.

    Abstract translation: 一种用医学定位系统（MPS）坐标系统和二维（2D）坐标系进行三维（3D）坐标系统的记录方法，包括获取感兴趣体积的至少一个2D图像，感兴趣的体积 包括在患者体内的至少一个管状器官。 2D图像与2D坐标系相关联，并且在至少一个管状器官内获取多个MPS点。 MPS点与MPS坐标系相关联，MPS坐标系被注册到2D坐标系。 提取所述至少一个管状器官的3D图像模型，形成感兴趣体积的预先获取的3D图像。 估计来自2D图像的至少一个管状器官的体积模型，并且从所获取的MPS点，通过使所提取的3D图像模型和所估计的3D图像模型匹配，将3D坐标系统与MPS坐标系统和2D坐标系统对齐 至少一个管状器官的体积模型。

    Method and a system for registering a 3D pre-acquired image coordinate system with a medical positioning system coordinate system and with a 2D image coordinate system
    10.
    发明授权
    Method and a system for registering a 3D pre-acquired image coordinate system with a medical positioning system coordinate system and with a 2D image coordinate system 有权
    方法和一种用于使用医学定位系统坐标系和2D图像坐标系登记3D预采图像坐标系的方法和系统

    公开(公告)号：US09111175B2

    公开(公告)日：2015-08-18

    申请号：US14204536

    申请日：2014-03-11

    Applicant: MediGuide, Ltd.

    Inventor： Gera Strommer ,  Uzi Eichler ,  Liat Schwartz

    IPC: G06K9/20 ,  G06K9/62 ,  G06K9/32 ,  G06T7/00

    CPC classification number: G06T7/0012 ,  G06K9/32 ,  G06K9/4604 ,  G06K9/6201 ,  G06K2209/05 ,  G06T7/344 ,  G06T2207/30004

    Abstract: Method for registering a three dimensional (3D) pre acquired image coordinates system with a Medical Positioning System (MPS) coordinate system and a two dimensional (2D) image coordinate system, the method comprising acquiring a 2D image of a volume of interest, the volume including an organ, the 2D image being associated with the 2D coordinate system, acquiring MPS points within the organ, the MPS points being associated with the MPS coordinate system, the MPS coordinate system being registered with the 2D coordinate system, extracting a 3D image model of the organ from a pre acquired 3D image of the volume of interest, estimating a volumetric model of the organ from the acquired MPS points, and registering the 3D coordinate system with the MPS coordinate system by matching the extracted 3D image model and the estimated volumetric model of the organ.

    Abstract translation: 一种用于记录具有医疗定位系统（MPS）坐标系和三维（2D）图像坐标系的三维（3D）预获取图像坐标系统的方法，所述方法包括获取感兴趣体积的2D图像，体积 包括器官，2D图像与2D坐标系相关联，获取器官内的MPS点，MPS点与MPS坐标系相关联，MPS坐标系统被注册到2D坐标系中，提取3D图像模型 从所获取的感兴趣体积的3D图像中预测器官的距离，从所获取的MPS点估计器官的体积模型，以及通过将所提取的3D图像模型与所估计的体积 器官模型。

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